TWI623728B - Detection device for stacked material and calculating method of stacked material volume - Google Patents

Abstract

A stack detecting device and a stacking volume calculating method, wherein the stack detecting device comprises two two-dimensional scanners, a positioning module, a data collecting module and an arithmetic processing module. By using the design of the two-dimensional scanner and the positioning module, the entire process of scanning and calculation can be achieved, which can effectively overcome the labor and time.

Description

Stacking detection device and calculation method of stacking volume

The invention relates to a detection device and a calculation method of a volume, in particular to a stack detection device and a calculation method of a pile volume.

Generally, in the process of estimating the volume of the pile, the bulk material of the large-scale material factory is usually measured by means of visual inspection by the personnel at the same time, and with the angle gauge and range finder of the portable body, and then simple The geometry is calculated by stacking the stack to calculate the volume of the stock.

However, this method of measuring the stock by conventional labor not only consumes manpower and time, but also the measured volume is more likely to produce different results due to the judgment error of the visual measurement of the person, resulting in the accuracy of the stock estimation. high. In addition, in recent years, three laser scanners or three-dimensional image recognition technologies have been used one after another, and can be used for assisting the shape measurement method at a fixed point or by using a vehicle and a flying vehicle. However, the installation cost is high and it is not suitable for multiple structures. , multi-bar racks, obstacles or indoor material yards to measure the volume of the stock.

Therefore, it is necessary to provide an improved detection apparatus and volume calculation method to solve the problems of the above-mentioned conventional techniques.

The main object of the present invention is to provide a stack detecting device, which can realize the whole process of scanning and calculation by using the design of the two-dimensional scanner and the positioning module, and can effectively overcome the problem of labor and time.

Another object of the present invention is to provide a method for calculating the volume of a pile, which uses the two-dimensional contour data and the coordinate superposition of the one-dimensional positioning point to calculate the shape and volume of the pile, which can effectively improve the shape and volume of the pile. Measuring stability and accuracy.

In order to achieve the above object, the present invention provides a stack detecting device which is disposed on a stacker for detecting a pile of material under the stacker, the stack detecting device comprising two two-dimensional scanners a positioning module, a data collection module and an arithmetic processing module; the two-dimensional scanners are respectively disposed on opposite sides of a vehicle of the stacker for stacking the material along a scanning direction Performing a two-dimensional scan to obtain a plurality of two-dimensional contour data, wherein the scanning direction is perpendicular to a traveling direction of the trolley; the positioning module is disposed on the trolley to detect the position of the trolley along the traveling direction Obtaining a plurality of one-dimensional positioning points; the data collection module is electrically connected to the two-dimensional scanner and the positioning module, and is configured to store the two-dimensional contour data obtained by the trolley while traveling and the one-dimensional positioning The arithmetic processing module is configured to receive the two-dimensional contour data stored by the data collection module and the one-dimensional positioning points, and perform coordinate superposition to form a three-dimensional coordinate data of the stack.

In an embodiment of the invention, the positioning module is capable of transmitting a laser or an electric wave to a positioning reference to obtain a one-dimensional positioning point of the vehicle.

In an embodiment of the present invention, the stack detecting device further includes a three-dimensional shape display module for receiving three-dimensional coordinate data from the arithmetic processing module, and the stack is based on the three-dimensional coordinate data of the stack. A shape of the material is displayed on a display.

In an embodiment of the invention, the stack detecting device further comprises a material high sensor disposed at the bottom of the trolley for sensing a height of the stack.

In order to achieve the above object, the present invention provides a method for calculating a stack volume, which is calculated by using a stocker detecting device as described in claim 1, wherein the calculating method includes a scanning step and a positioning step. a processing step and a calculating step; the scanning step is to obtain a plurality of two-dimensional contour data by performing two-dimensional scanning on the stock in a scanning direction by using two two-dimensional scanners while the vehicle is traveling, wherein The scanning direction is perpendicular to a traveling direction of the trolley; the positioning step is to obtain a plurality of one-dimensional positioning points by detecting a position of the trolley along the traveling direction when the trolley is in progress; The processing step is to coordinate the two-dimensional contour data and the one-dimensional positioning points by using an arithmetic processing module to form a three-dimensional coordinate data of the stack; the calculating step is a three-dimensional coordinate of the stack. The data is calculated to obtain a volume of the stock.

As described above, using the two-dimensional scanner and the positioning module design, the two-dimensional contour data and the one-dimensional positioning points are superimposed on the coordinates to form a three-dimensional coordinate data of the stock, and The three-dimensional coordinate data calculates the shape and volume of the pile, which is not only suitable for multi-structure, multi-tube rack, obstacle or indoor material yard, but also performs scanning and calculation of the whole process automation, which can effectively overcome the labor and time problem. And improve the measurement stability and accuracy of the shape and volume of the stack.

100‧‧‧ stocking detection device

101‧‧‧Stacker

102‧‧‧ stock

103‧‧‧Trolley

104‧‧‧ transverse frame

105‧‧‧Outlet

106‧‧‧ Positioning reference

107‧‧‧ shaded area

2‧‧‧2D Scanner

3‧‧‧ Positioning Module

4‧‧‧ Data Collection Module

5‧‧‧Operation Processing Module

6‧‧‧3D shape display module

7‧‧‧Volume calculation module

8‧‧‧ material high sensor

a, b‧‧‧ angle

c‧‧‧An angle of repose

S201‧‧‧ scan steps

S202‧‧‧ Positioning steps

S203‧‧‧Processing steps

S204‧‧‧Shadow compensation step

S205‧‧‧Comparative compensation steps

S206‧‧‧ Calculation steps

1 is a schematic view of a preferred embodiment of a stock detecting device according to the present invention; and FIG. 2 is a view showing a component relationship of a preferred embodiment of the stock detecting device according to the present invention. 3 and 4 are schematic views showing a two-dimensional scanning according to a preferred embodiment of the stock detecting device of the present invention; and FIG. 5 is a comparison of a method for calculating the volume of the stock according to the present invention. A flow chart of a preferred embodiment.

The above and other objects, features and advantages of the present invention will become more <RTIgt; Furthermore, the directional terms mentioned in the present invention, such as upper, lower, top, bottom, front, rear, left, right, inner, outer, side, surrounding, central, horizontal, horizontal, vertical, longitudinal, axial, Radial, uppermost or lowermost, etc., only refer to the direction of the additional schema. Therefore, the directional terminology used is for the purpose of illustration and understanding of the invention.

Referring to Figures 1, 2 and 3, a preferred embodiment of the stack detecting device of the present invention is disposed on a stacker 101 for carrying a stack 102 of material below the stacker 101. Detection. The stack detecting device 100 includes two two-dimensional scanners 2, a positioning module 3, a data collecting module 4, an arithmetic processing module 5, a three-dimensional shape display module 6, and a volume computing module 7. And a high-sensing sensor 8. The detailed construction, assembly relationship, and operation principle of each element will be described in detail below.

Referring to Figures 1, 2 and 3, the two-dimensional scanners 2 are respectively disposed on opposite sides of a vehicle 103 of the stocker 101, and the trolleys 103 are along a traveling direction (as shown in Figure 1). The arrow 102 is moved on a cross frame 104 of the stocker 101, and the stock material 102 is formed by accumulating raw materials or waste piles under a lower carriage 103 from a discharge port 105. In this embodiment, the two dimensions The scanner 2 may be a two-dimensional scan using a laser or a microwave, and scan the top contour of the stack 102 in opposite directions of the carriage 103, that is, two-dimensional scanning of the stock 102 along a scanning direction. A plurality of two-dimensional contour data are obtained, wherein the scanning direction is perpendicular to the traveling direction of the carriage 103.

Referring to Figures 1, 2 and 3, the positioning module 3 is disposed on the carriage 103 for detecting the position of the carriage 103 along the direction of travel to obtain a plurality of one-dimensional positioning points. In this embodiment, the positioning module 3 can emit a laser or an electric wave to a positioning reference 106 to obtain a one-dimensional positioning point of the trolley 103, wherein the positioning reference 106 is disposed as shown in FIG. The opposite side of the positioning module 3 can adopt a laser ranging method, that is, the positioning module 3 is a laser range finder, the positioning reference 106 is a reflecting plate, or a radio wave ranging method is adopted. That is, the positioning module 3 is an electric wave transmitter, and the positioning reference 106 is a radio wave receiver. In addition, the material high sensor 8 is disposed at the bottom of the trolley 103, that is, adjacent to the discharge port 105, and the material height sensor 8 is used to sense the area of the stack 102 close to the trolley 103. height.

With reference to the first, second and third figures, the data collection module 4 is electrically connected to the two-dimensional scanner 2, the positioning module 3 and the material height sensor 8, and the data collection module 4 is used for The two-dimensional contour data obtained by the carriage 103 during travel, the one-dimensional positioning points, and the height of the area of the stack 102 close to the trolley 103 are stored.

Referring to Figures 1, 2 and 3, the arithmetic processing module 5 is configured to receive the two-dimensional contour data stored by the data collection module 4, the one-dimensional positioning points, and the stack 102 are close to The height of the area of the trolley 103, and the two-dimensional contour data and the one-dimensional positioning points are coordinately superimposed to form a three-dimensional coordinate data of the stack 102.

Referring to Figures 1, 2 and 3, the three-dimensional shape display module 6 is configured to receive three-dimensional coordinate data from the arithmetic processing module 5, and the stack 102 is based on the three-dimensional coordinate data of the stack 102. A shape is displayed on a display.

Referring to Figures 1, 2 and 3, the volume calculation module 7 is configured to receive a plurality of blocks and height averages from the three-dimensional shape display module 6.

According to the above configuration, when a human machine interface is controlled by an operator for scanning, the stack detecting device 100 is driven by a control module of the stocker 101; wherein the control module drives the trolley 103 at the The cross frame 104 performs a full-stroke reciprocating movement, so that the two-dimensional scanner 2 uses the laser or the microwave to respectively feed the stack in the opposite direction of the trolley 103 while the carriage 103 moves along the traveling direction. The top contour of 102 is scanned two-dimensionally, for example, FIG. 3 performs two-dimensional scanning in the range of angle a, or FIG. 4 performs two-dimensional scanning in the range of angle b, thereby obtaining a plurality of two-dimensional contour data; and then using the positioning The module 3 emits a laser or an electric wave to the positioning reference 106 to obtain a one-dimensional positioning point of the trolley 103, and stores the two-dimensional contour data and the one-dimensional positioning point into the data collection module 4; And using the operation processing module 5 to coordinate the two-dimensional contour data and the one-dimensional positioning points, thereby forming a three-dimensional coordinate data of the stack 102; and using the three-dimensional shape display module 6 A profile of the stacker 102 is displayed on a display, simultaneously, through the calculation of the volume calculation module 7 are summed, thereby obtaining a volume of the bulk material 102, for the operator to view the material shape and volume of the stack 102.

With the above design, the coordinates of the two-dimensional scanner 2 and the positioning module 3 are used to perform coordinate superposition through the two-dimensional contour data and the one-dimensional positioning points, thereby forming a three-dimensional shape of the stack 102. Coordinate data, and calculating the shape and volume of the stack 102 based on the three-dimensional coordinate data, not only for multi-structure, multi-tube rack, obstacle or indoor material yard, but And performing scanning and calculating the whole process automation can effectively overcome the labor and time problem, and improve the measurement stability and accuracy of the shape and volume of the stack 102.

Referring to FIG. 5 and FIG. 2 and FIG. 3, a preferred embodiment of the method for calculating the volume of the stack of the present invention is performed by using the stack detecting device, and the calculating method includes a scanning step S201. A positioning step S202, a processing step S203, a mask compensation step S204, a comparison compensation step S205, and a calculation step S206. The operation of each step will be described in detail below.

With continued reference to FIG. 5 and in conjunction with FIGS. 2 and 3, in the scanning step S201, when the carriage 103 of a stacker 101 is traveling, the two-dimensional scanner 2 is used to scan the scanner along a scanning direction. The stack 102 performs two-dimensional scanning to obtain a plurality of two-dimensional contour data, wherein the scanning direction is perpendicular to a traveling direction of the carriage 103, and the two-dimensional contour data is transmitted to the data collection module 4.

With reference to FIG. 5 and in conjunction with FIGS. 2 and 3, in the positioning step S202, when the carriage 103 is in progress, a positioning module 3 is used to detect the position of the trolley 103 along the traveling direction. One-dimensional anchor points are transmitted to the data collection module 4.

With reference to FIG. 5 and in conjunction with FIGS. 2 and 3, in the processing step S203, the coordinate processing is performed by using an arithmetic processing module 5 for the two-dimensional contour data and the one-dimensional positioning points. A three-dimensional coordinate data of the stock 102 is formed.

Referring to FIG. 5 and in conjunction with FIGS. 2 and 4, in the mask compensation step S204, a height of a shaded region 107 in the stack 102 is obtained by the arithmetic processing module 5.

Referring to FIG. 5 and in conjunction with FIGS. 2 and 3, in the comparison compensation step S205, a height of the stock 102 below the trolley 103 is obtained by the arithmetic processing module 5.

Referring to FIG. 5 and in conjunction with FIGS. 2 and 3, in the calculating step S206, the three-dimensional coordinate data of the stock 102 is calculated to obtain a volume of the stock 102.

As described above, by using the design of the two-dimensional scanner 2 and the positioning module 3, the two-dimensional contour data and the one-dimensional positioning points are superimposed on the coordinates to form a three-dimensional coordinate data of the stack 102. And calculating the shape and volume of the stack 102 according to the three-dimensional coordinate data, which is not only suitable for multi-structure, multi-tube rack, obstacle or indoor material yard, but also performs scanning and calculation full automation, which can effectively overcome manpower And the problem of time, and improve the measurement stability and accuracy of the shape and volume of the stock 102.

The present invention has been disclosed in its preferred embodiments, and is not intended to limit the invention, and the present invention may be modified and modified without departing from the spirit and scope of the invention. The scope of protection is subject to the definition of the scope of the patent application.

Claims (5)

A stack detecting device is disposed on a stacker for detecting a pile of materials under the stacker, the stack detecting device comprising: two two-dimensional scanners respectively disposed on the stacker The opposite sides of a vehicle are used for two-dimensional scanning of the stock along a scanning direction to obtain a plurality of two-dimensional contour data, wherein the trolley is on a cross frame of the stacker along a traveling direction Moving, the scanning direction is perpendicular to the traveling direction of the trolley; a positioning module is disposed on the trolley for detecting the position of the trolley along the traveling direction to obtain a plurality of one-dimensional positioning points; a collection module electrically connected to the two-dimensional scanner and the positioning module for storing the two-dimensional contour data obtained by the trolley while traveling and the one-dimensional positioning point; and an operation processing module Receiving the two-dimensional contour data stored by the data collection module and the one-dimensional positioning points, and superimposing each one-dimensional positioning point and the corresponding two-dimensional contour data to form the stacking material a three-dimensional coordinate . The stack detecting device according to claim 1, wherein the positioning module is capable of emitting a laser or an electric wave to a positioning reference to obtain a one-dimensional positioning point of the vehicle. The stack detecting device according to claim 1, further comprising a three-dimensional shape display module for receiving the three-dimensional coordinate from the arithmetic processing module And according to the three-dimensional coordinate data of the stock, a shape of the stock is displayed on a display. The stack detecting device according to claim 1, further comprising a high-sensing sensor disposed at the bottom of the trolley for sensing a height of the stack. A method for calculating a stock volume, wherein the volume of the stock is calculated by using a stock detecting device according to claim 1 of the patent application, the calculating method comprising: a scanning step, when the vehicle is traveling, using the setting Two two-dimensional scanners on opposite sides of the trolley scan the stack in a scanning direction to obtain a plurality of two-dimensional contour data, wherein the scanning direction is perpendicular to a traveling direction of the trolley; a positioning step, when the trolley is in progress, using a positioning module to detect the position of the trolley along the traveling direction to obtain a plurality of one-dimensional positioning points; and a processing step, using an arithmetic processing module to locate each one-dimensional The point and the corresponding two-dimensional contour data are superimposed on the coordinate to form a three-dimensional coordinate data of the pile; and a calculation step is performed to calculate the three-dimensional coordinate data of the pile to obtain a volume of the pile.